Low altitude service management system

Abstract

The application provides a low-altitude service management system, which comprises a data interaction service module, a flight data of a low-altitude aircraft is acquired by the data interaction service module; a flight management service module, a flight request of the low-altitude aircraft is accepted by the flight management service module, and a flight schedule is generated based on preset rules according to the flight request; the flight request comprises a flight airspace and a flight plan; a tracking service module, low-altitude geographic data is divided into a plurality of first grids by the tracking service module, the types of the first grids comprise airspace grids and obstacle grids, corresponding obstacle information is obtained by a grid search method for each airspace grid, and whether there is a collision risk is judged according to the flight data and the obstacle information, and first alarm information is generated; and whether the low-altitude aircraft conforms to the flight airspace, the flight plan and the flight schedule is judged according to the flight data, and second alarm information is generated. The application improves the safety of the flight of the low-altitude aircraft.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of low-altitude flight, in particular to a low-altitude service management system. BACKGROUND

[0002] With the continuous development of low-altitude flight technology, low-altitude aircraft including small civil aircraft, helicopters and a large number of unmanned aerial vehicles are widely used in many fields.

[0003] The existing low-altitude service management system is mainly used for the management of flight data of low-altitude aircraft, and it cannot detect whether the low-altitude aircraft has a collision risk, whether it meets the flight schedule, etc., so it cannot guarantee the safety of the low-altitude aircraft during flight. SUMMARY

[0004] Therefore, it is necessary to provide a low-altitude service management system to solve the above technical problems.

[0005] The embodiment of the present application provides a low-altitude service management system, which comprises:

[0006] A data interaction service module is configured to obtain flight data of a low-altitude aircraft.

[0007] A flight management service module is configured to accept a flight request of the low-altitude aircraft submitted by a user, and generate a flight schedule based on a preset rule according to the flight request; the flight request comprises a flight airspace and a flight plan.

[0008] A tracking service module is configured to divide low-altitude geographic data of a flight area of the low-altitude aircraft into a plurality of first grids by grid division, the type of the first grid comprises an airspace grid and an obstacle grid, for each airspace grid, obtain corresponding obstacle information by a grid search method, and determine whether there is a collision risk according to the flight data and the obstacle information, and generate a first alarm information; and determine whether the low-altitude aircraft meets the flight airspace, the flight plan and the flight schedule according to the flight data, and generate a second alarm information.

[0009] In some embodiments, the data interaction service module is further configured to obtain communication information, weather information and electromagnetic interference information of a flight area where the low-altitude aircraft is located.

[0010] When the tracking service module determines that at least one of the communication information, the weather information and the electromagnetic interference information is abnormal, a third alarm information is generated.

[0011] In some embodiments, the system further comprises:

[0012] a regulatory module configured to set temporary control zones, key protection zones, and no-fly zones in the low-altitude geographic data;

[0013] The tracking service module is further configured to determine whether the low-altitude aircraft is in a temporary control zone, a key protection zone, or a no-fly zone according to the flight data, and generate fourth warning information.

[0014] In some embodiments, the system further comprises:

[0015] a data display module configured to display the low-altitude geographic data, the flight data, the first warning information, the second warning information, the third warning information, and the fourth warning information.

[0016] In some embodiments, the system further comprises:

[0017] a public end configured to accept a registration request submitted by a user and a flight request;

[0018] a database configured to store the flight data, the flight airspace, the flight plan, and the flight schedule, and search the flight data, the flight airspace, the flight plan, and the flight schedule.

[0019] In some embodiments, the tracking service module comprises:

[0020] a grid division module configured to obtain low-altitude geographic data of a flight area, and divide the low-altitude geographic data into a plurality of first grids by grid division;

[0021] a grid marking module configured to mark each of the first grids by grid coding, mark the type of each of the first grids by grid type coding, and mark the obstacle grids by obstacle coding;

[0022] a grid search module configured to determine, for each of the airspace grids, whether there is an obstacle grid within a preset range by a grid search method; if so, calculate the distance between each of the obstacle grids and the airspace grid, and generate obstacle information of the airspace grid in combination with the grid coding and the obstacle coding corresponding to each of the obstacle grids;

[0023] a first detection module configured to determine the airspace grid in which a low-altitude aircraft is located based on flight data of the low-altitude aircraft, obtain the obstacle information corresponding to the airspace grid, and determine whether the low-altitude aircraft has a collision risk in combination with the flight data, and generate first warning information;

[0024] The second detection module is configured to determine whether the low-altitude aircraft complies with the flight airspace, the flight plan and the flight schedule according to the flight data, and generate a second warning information.

[0025] In some embodiments, the grid searching module is specifically configured to search a first grid adjacent to a first airspace grid to be searched in a search queue, determine whether the first grid is an obstacle grid according to a grid type code of the first grid, if yes, determine whether a number of obstacle codes searched is greater than a maximum number of obstacles, if yes, end the search, if less than the maximum number of obstacles, obtain an obstacle code of the obstacle grid, calculate a distance between the first airspace grid and the obstacle grid, and generate a quadruple of the first airspace grid, if the first grid is an airspace grid, add the airspace grid to the search queue, and continue searching in six directions adjacent to the first grid until a preset search range is reached, generate obstacle information of the first airspace grid according to all the quadruples, and repeat the above steps until each airspace grid in the search queue is searched and obstacle information of each airspace grid is generated.

[0026] In some embodiments, the grid dividing module is further configured to divide the low-altitude geographic data into a plurality of second grids by grid division, each second grid comprising a plurality of first grids.

[0027] The grid searching module is specifically configured to traverse first grids in a second grid where the airspace grid is located in sequence, determine obstacle grids in the first grids according to grid type codes of the first grids, traverse second grids within a preset range in each direction of the airspace grid in sequence, determine whether there is an obstacle grid in the second grids, if yes, traverse first grids in the second grids in sequence, and determine obstacle grids in the first grids according to grid type codes of the first grids.

[0028] In some embodiments, the tracking service module further comprises:

[0029] The grid determining module is configured to obtain a first grid corresponding to an updated area when the low-altitude geographic data is updated, the grid marking module is further configured to re-mark the first grid corresponding to the updated area by using a grid code, re-mark a type of the first grid corresponding to the updated area by using a grid type code, and mark the obstacle grid by using an obstacle code.

[0030] a grid updating module configured to determine, for a space grid within a preset range from a first grid corresponding to the updating region, whether there is an obstacle grid within the preset range by using a grid search method; if yes, calculate distances between each of the obstacle grids and the space grid, and update obstacle information of the space grid in combination with grid codes and obstacle codes corresponding to each of the obstacle grids.

[0031] In some embodiments, the flight data includes position information of the low-altitude aircraft and time information, and the second detection module includes:

[0032] a flight region detection module configured to determine whether the position information is within the flight airspace;

[0033] a flight plan detection module configured to determine whether the position information meets the flight plan;

[0034] a flight schedule detection module configured to determine whether the time information meets the flight schedule.

[0035] The low-altitude service management system described above obtains flight data of a low-altitude aircraft through a data interaction service module; accepts a flight request of the low-altitude aircraft submitted by a user through a flight management service module, and generates a flight schedule based on a preset rule according to the flight request; the flight request includes a flight airspace and a flight plan; divides low-altitude geographic data of a flight region of the low-altitude aircraft into a plurality of first grids through a tracking service module, types of the first grids include space grids and obstacle grids, obtains corresponding obstacle information for each of the space grids through a grid search method, determines whether there is a collision risk according to the flight data and the obstacle information, and generates first warning information; and determines whether the low-altitude aircraft meets the flight airspace, the flight plan and the flight schedule according to the flight data, and generates second warning information. The application can determine whether the low-altitude aircraft has a collision risk, and determine whether the low-altitude aircraft meets the flight airspace, the flight plan and the flight schedule, thereby improving the safety of the low-altitude aircraft flight. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 a framework diagram of the low-altitude service management system in the first embodiment;

[0037] Figure 2 a framework diagram of the low-altitude service management system in the second embodiment;

[0038] Figure 3 a framework diagram of the low-altitude service management system in the third embodiment;

[0039] Figure 4A framework diagram of a low altitude service management system in a fourth embodiment.

[0040] Figure 5 A framework diagram of a low altitude service management system in a fifth embodiment.

[0041] Figure 6 A framework diagram of a tracking service module in an embodiment. DETAILED DESCRIPTION

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some examples or embodiments of the present application, and for those skilled in the art, the present application can be applied to other similar scenarios without creative labor on the basis of these drawings. Unless the context clearly indicates otherwise or otherwise stated, the same reference numbers in the drawings represent the same structure or operation.

[0043] As shown in the present application and claims, unless the context clearly indicates otherwise or otherwise stated, the words "one", "a", "an", and / or "the" do not mean to specify a single number, but can also include a plurality. Generally, the terms "comprising" and "including" only indicate including the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements.

[0044] Although the present application makes various references to certain modules in the apparatus according to the embodiments of the present application, however, any number of different modules can be used and run on the computing device and / or processor. The modules are only illustrative, and different aspects of the apparatus and method can use different modules.

[0045] It should be understood that when a unit or module is described as being "connected", "coupled", or "communicated" to other units, modules, or blocks, it can mean that it is directly connected or coupled to the other units, modules, or blocks, or it can be in communication with the other units, modules, or blocks, or there can be intermediate units, modules, or blocks, unless the context clearly indicates otherwise. The term "and / or" used herein can include any and all combinations of one or more related listed items.

[0046] As Figure 1As shown, the embodiment of the present application provides a low-altitude service management system, comprising: a data interaction service module, configured to acquire flight data of a low-altitude aircraft; a flight management service module, configured to accept a flight request of the low-altitude aircraft reported by a user, and generate a flight schedule based on preset rules according to the flight request; the flight request comprises a flight airspace and a flight plan; a tracking service module, configured to divide low-altitude geographic data of a flight area of the low-altitude aircraft into a plurality of first grids in a grid manner, the type of the first grid comprises an airspace grid and an obstacle grid, for each of the airspace grids, obtain corresponding obstacle information through a grid search method, and judge whether there is a collision risk according to the flight data and the obstacle information, and generate a first alarm information; and judge whether the low-altitude aircraft meets the flight airspace, the flight plan and the flight schedule according to the flight data, and generate a second alarm information.

[0047] The data interaction service module is responsible for information exchange with external systems, for example: receiving flight data reporting of partners; receiving flight data reporting of detection platforms; receiving flight data synchronization of other platforms (such as UOM); reporting flight data to other platforms.

[0048] The flight request is reported by the user, mainly including the flight airspace and the flight plan. The flight management service module acquires the flight airspace and the flight plan from the flight request of all low-altitude aircrafts, and generates a corresponding flight schedule based on preset rules.

[0049] For example, the flight schedule is generated according to the priority of the low-altitude aircraft.

[0050] The tracking service module is mainly used for dividing low-altitude geographic data of a flight area of the low-altitude aircraft into a plurality of first grids in a grid manner, the type of the first grid comprises an airspace grid and an obstacle grid, for each of the airspace grids, obtain corresponding obstacle information through a grid search method, and judge whether there is a collision risk according to the flight data and the obstacle information, and generate a first alarm information; and judge whether the low-altitude aircraft meets the flight airspace, the flight plan and the flight schedule according to the flight data, and generate a second alarm information, thereby improving the safety of the flight of the low-altitude aircraft.

[0051] In some embodiments, the data interaction service module is further configured to acquire communication information, weather information and electromagnetic interference information of a flight area where the low-altitude aircraft is located. When the tracking service module judges that at least one of the communication information, the weather information and the electromagnetic interference information is abnormal, a third alarm information is generated.

[0052] The communication information refers to the communication signal strength, and the electromagnetic interference information refers to the electromagnetic interference strength.

[0053] The tracking service module determines whether there is a risk by determining whether the communication information and the electromagnetic interference information are greater than corresponding thresholds. In addition, when weather information of a flight area is bad weather, it is also determined that there is a risk.

[0054] In some embodiments, as shown in Figure 2 The system further includes a supervision module configured to set temporary control areas, key protection areas, and no-fly areas in the low-altitude geographic data. The tracking service module is further configured to determine, according to the flight data, whether the low-altitude aircraft is in the temporary control areas, the key protection areas, and the no-fly areas, and to generate fourth warning information.

[0055] When receiving a flight request, the supervision module needs to determine whether the flight airspace and the flight plan in the flight request meet the regulations. When the flight request meets the regulations, the flight request is approved. Otherwise, the flight request is not approved.

[0056] In addition, the supervision module can also set temporary control areas, key protection areas, and no-fly areas according to the low-altitude geographic data. These areas are areas where low-altitude aircrafts cannot fly. The supervision module can also revoke these areas.

[0057] The tracking service module determines the current position of the low-altitude aircraft according to the flight data. When the low-altitude aircraft is in the temporary control areas, the key protection areas, and the no-fly areas, the tracking service module generates fourth warning information.

[0058] In some embodiments, as shown in Figure 3 The system further includes a data display module configured to display the low-altitude geographic data, the flight data, the first warning information, the second warning information, the third warning information, and the fourth warning information.

[0059] The data display module calls a 2D map UI component, a 3D map UI component, a 3D map SDK, and the like to realize display of the low-altitude geographic data, the flight data, the first warning information, the second warning information, the third warning information, and the fourth warning information.

[0060] In some embodiments, as shown in Figure 4 The system further includes a public end configured to accept a user-submitted registration request and a flight request.

[0061] The public end, as a public traffic entrance, has the following functions for a public information publishing window: user registration, user low-altitude resource management (airspace, operation qualification, pilot qualification, low-altitude aircraft, take-off and landing point, contact person, and the like), airspace application, flight plan submission, flight schedule submission, and operation situation monitoring.

[0062] In some embodiments, as shown inFigure 5 As shown, the system further comprises a database for storing the flight data, the flight airspace, the flight plan and the flight schedule, and searching the flight data, the flight airspace, the flight plan and the flight schedule.

[0063] In some embodiments, as Figure 6 As shown, the tracking service module comprises a grid division module for obtaining low-altitude geographic data of a flight area, and gridizing the low-altitude geographic data into a plurality of first grids; a grid marking module for marking each of the first grids with a grid code, marking the type of each of the first grids with a grid type code, and marking the obstacle grids with an obstacle code; a grid search module for determining, for each of the airspace grids, whether there is an obstacle grid within a preset range by a grid search method; if yes, calculating the distance between each of the obstacle grids and the airspace grid, and generating obstacle information of the airspace grid in combination with the grid code and the obstacle code corresponding to each of the obstacle grids; a first detection module for determining the airspace grid where the low-altitude aircraft is located based on the flight data of the low-altitude aircraft, obtaining the obstacle information corresponding to the airspace grid, and judging whether the low-altitude aircraft has a collision risk in combination with the flight data, and generating first alarm information; and a second detection module for judging whether the low-altitude aircraft meets the flight airspace, the flight plan and the flight schedule according to the flight data, and generating second alarm information.

[0064] The grid division module adopts a grid division manner such as GeoSOT grid, Beidou grid, etc. to gridize the low-altitude geographic data.

[0065] The first detection module determines the distance between the low-altitude aircraft and the obstacle according to the obstacle information, and determines that the low-altitude aircraft has a collision risk when the distance is less than a preset distance. If the obstacle information includes a plurality of distances, the smallest distance is obtained.

[0066] The flight data includes position information and time information of the low-altitude aircraft. Specifically, the second detection module comprises a flight area detection module for judging whether the position information is within the flight airspace; a flight plan detection module for judging whether the position information meets the flight plan; and a flight schedule detection module for judging whether the time information meets the flight schedule.

[0067] In the embodiment, the obstacle information of each airspace mesh is obtained before the collision risk detection, so when the collision risk detection is performed, the flight data of the low-altitude aircraft is only needed to be obtained through searching to quickly obtain the obstacle information and timely judge whether there is a collision risk. Compared with the prior art, the data calculation amount of the technical solution is smaller, the collision risk detection is faster, and the safety of the low-altitude aircraft flight is improved.

[0068] In an embodiment, the mesh searching module is specifically configured to search a first mesh adjacent to a first airspace mesh to be searched in a search queue, determine whether the first mesh is an obstacle mesh according to a mesh type code of the first mesh, if yes, judge whether a number of obstacle codes searched is greater than a maximum number of obstacles, if yes, end the search, if less than the maximum number of obstacles, obtain the obstacle codes of the obstacle mesh, calculate a distance between the first airspace mesh and the first mesh, and generate a quadruple of the first airspace mesh, if the first mesh is an airspace mesh, add the airspace mesh to the search queue, and continue searching in six directions adjacent to the first mesh until a preset range is reached, generate obstacle information of the first airspace mesh according to all the quadruples, and repeat the steps of the mesh searching method until the mesh searching of each airspace mesh in the search queue is completed and the obstacle information of each airspace mesh is generated.

[0069] The quadruple of the airspace mesh is (meshCode start , obstacleId, meshCode head , Distance), meshCode start represents the first airspace; obstacleId represents the mesh obstacle code; meshCode head represents the first mesh adjacent; and Distance represents the distance.

[0070] In some embodiments, the mesh dividing module is further configured to divide the low-altitude geographic data into a plurality of second meshes through meshing, each of the second meshes comprising a plurality of first meshes; and the mesh searching module is specifically configured to first traverse the first meshes in the second mesh where the airspace mesh is located in sequence, determine the obstacle meshes in the first meshes according to mesh type codes of the first meshes; and then traverse the second meshes within a preset range in each direction of the airspace mesh in sequence, judge whether there is an obstacle mesh in the second meshes, if yes, traverse the first meshes in the second meshes in sequence, and determine the obstacle meshes in the first meshes according to mesh type codes of the first meshes.

[0071] The first mesh can be understood as a sub-mesh of the second mesh, for example, the second mesh comprises 64 first meshes. The second mesh comprises a marker of each of the first meshes.

[0072] Compared with directly using the first grid to perform the grid search, the grid search method used in the embodiment uses a hierarchical search manner, and the second grid is searched first to quickly determine whether there is an obstacle grid, and in the case where there is an obstacle grid, the first grid in the obstacle grid is searched to quickly locate the obstacle grid, thereby improving the grid search efficiency.

[0073] In the prior art, when the low-altitude geographic data is updated, all the updated low-altitude geographic data needs to be re-divided into grids, re-labeled, and re-searched to generate obstacle information, so that the data processing amount is large and the data processing time is long.

[0074] In some embodiments, the tracking service module further includes: a grid determination module configured to, when the low-altitude geographic data is updated, acquire the first grid corresponding to an update area; the grid labeling module is further configured to re-label the first grid corresponding to the update area by using a grid code, re-label the type of the first grid corresponding to the update area by using a grid type code, and label the obstacle grid by using an obstacle code; and a grid updating module configured to, for the airspace grid within a preset range from the first grid corresponding to the update area, determine whether there is an obstacle grid within the preset range by using a grid search method; if yes, calculate the distance between each obstacle grid and the airspace grid, and update the obstacle information of the airspace grid in combination with the grid code and the obstacle code corresponding to each obstacle grid.

[0075] In the embodiment, only the first grid corresponding to the update area needs to be re-labeled, and the obstacle information is generated by re-searching the grid, so that compared with the prior art, the data processing amount is reduced, and the data processing time is greatly shortened.

[0076] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0077] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A low-altitude service management system, characterized in that, The system includes: The data interaction service module is used to acquire flight data of low-altitude aircraft; The flight management service module is used to accept flight requests from users for the low-altitude aircraft and generate flight schedules based on preset rules according to the flight requests; the flight requests include flight airspace and flight plans; The tracking service module is used to divide the low-altitude geographic data of the flight area of ​​the low-altitude aircraft into several first grids. The types of the first grids include airspace grids and obstacle grids. For each airspace grid, the module obtains the corresponding obstacle information through a grid search method, and determines whether there is a collision risk based on the flight data and the obstacle information, and generates a first alarm message. The module also determines whether the low-altitude aircraft conforms to the flight airspace, the flight plan, and the flight schedule based on the flight data, and generates a second alarm message. The tracking service module includes: The grid division module is used to acquire low-altitude geographic data of the flight area and divide the low-altitude geographic data into several first grids. A grid marking module is used to mark each of the first grids using grid encoding, and to mark the type of each of the first grids using grid type encoding; and to mark the obstacle grids using obstacle encoding; The grid search module is used to determine whether there are obstacle grids within a preset range for each of the spatial grids using a grid search method; if so, it calculates the distance between each obstacle grid and the spatial grid, and generates obstacle information for the spatial grid by combining the grid code and obstacle code corresponding to each obstacle grid. The first detection module is used to determine the airspace grid where the low-altitude aircraft is located based on the flight data of the low-altitude aircraft, obtain the obstacle information corresponding to the airspace grid, and determine whether the low-altitude aircraft has a collision risk based on the flight data, and generate the first alarm information. The second detection module is used to determine whether the low-altitude aircraft conforms to the flight airspace, the flight plan, and the flight schedule based on the flight data, and to generate a second alarm message.

2. The system according to claim 1, characterized in that, The data interaction service module is also used to acquire communication information, meteorological information and electromagnetic interference information of the flight area where the low-altitude aircraft is located. When the tracking service module determines that at least one of the communication information, the meteorological information, and the electromagnetic interference information is abnormal, it generates a third alarm message.

3. The system according to claim 2, characterized in that, The system also includes: The monitoring module is used to set temporary control zones, key protection zones, and no-fly zones in the low-altitude geographic data; The tracking service module is also used to determine, based on the flight data, whether the low-altitude aircraft is in a temporary control zone, a key protection zone, or a no-fly zone, and to generate a fourth alarm message.

4. The system according to claim 3, characterized in that, The system also includes: The data display module is used to display the low-altitude geographic data, the flight data, the first alarm information, the second alarm information, the third alarm information, and the fourth alarm information.

5. The system according to claim 1, characterized in that, The system also includes: The public interface is used to accept registration and flight requests submitted by users. The database is used to store the flight data, the airspace, the flight plan, and the flight timetable, and is also used for searching the flight data, the airspace, the flight plan, and the flight timetable.

6. The system according to claim 1, characterized in that, The grid search module is specifically used to search the first neighboring grid of the first spatial grid to be searched in the search queue. It determines whether the first grid is an obstacle grid based on its grid type code. If it is, it checks if the number of obstacle codes found is greater than the maximum number of obstacles. If so, the search ends. If it is less than the maximum number of obstacles, it obtains the obstacle code of the obstacle grid and calculates the distance between the first spatial grid and the first grid, generating a quadruple for the first spatial grid. If the first grid is a spatial grid, it adds it to the search queue and continues searching along the six directions adjacent to the first grid until the search range reaches a preset range. It generates obstacle information for the first spatial grid based on all the quadruples. The steps of the above grid search method are repeated until all spatial grids in the search queue have completed the grid search and obstacle information for each spatial grid is generated.

7. The system according to claim 1, characterized in that, The grid division module is also used to divide the low-altitude geographic data into several second grids, each second grid including multiple first grids; The grid search module is specifically used to first traverse the first grid in the second grid where the airspace grid is located, and determine the obstacle grid in the first grid according to the grid type code of the first grid; then traverse and search the second grid within a preset range in each direction of the airspace grid, and determine whether there is an obstacle grid in the second grid. If there is, then traverse the first grid in the second grid and determine the obstacle grid in the first grid according to the grid type code of the first grid.

8. The system according to claim 1, characterized in that, The tracking service module also includes: The grid determination module is used to obtain the first grid corresponding to the updated area when the low-altitude geographic data is updated; the grid marking module is also used to re-mark the first grid corresponding to the updated area using grid coding, and to re-mark the type of the first grid corresponding to the updated area using grid type coding; and to mark the obstacle grid using obstacle coding; The grid update module is used to determine whether there are obstacle grids within a preset range for spatial grids that are within a preset range of the first grid corresponding to the update area, using a grid search method; if so, it calculates the distance between each obstacle grid and the spatial grid, and updates the obstacle information of the spatial grid by combining the grid code and obstacle code corresponding to each obstacle grid.

9. The system according to claim 1, characterized in that, The flight data includes the position information and time information of the low-altitude aircraft, and the second detection module includes: The flight area detection module is used to determine whether the location information is within the flight airspace; The flight plan detection module is used to determine whether the location information conforms to the flight plan; The flight time detection module is used to determine whether the time information conforms to the flight timetable.

Images